：针对机器人遥操作系统中采用传统网络传输协议传输实时数据的局限性，比较分析TCP和UDP协

议的传榆特点，提出了在UDP协议上传输TCP服务的TCPOVERUDP技术，详细阐述了TCPOVERUDP

技术的实现细节，在应用层实现了TCPOVE RUDP传输技术，并把TCPOVE RUDP技术应用到机器人遥

操作系统的视频传输中。实验结果表明TCP OVE R UDP技术在降低视频数据传输丢包率和传输时延两个

方面都具有良好的性能。-Chuan Yu characteristics of TCP and UDP protocols: the limitations of traditional network transport protocol to transmit real-time data for teleoperation system, comparative analysis, the the transmit TCP service TCPOVERUDP UDP protocol technology, elaborate technology implementation TCPOVERUDP details in the application layer TCPOVE RUDP transmission technology, and video transmission TCPOVE RUDP technology applied to teleoperation system. Experimental results show that TCP OVE R UDP technology in two ways to reduce the packet loss rate and the transmission delay of the video data transmission has a good performance.